// Stepper driver standalone example
#include <SimpleFOC.h>


// Stepper driver instance
// StepperDriver2PWM(pwm1, in1a, in1b, pwm2, in2a, in2b, (en1, en2 optional))
StepperDriver2PWM driver = StepperDriver2PWM(3, 4, 5, 10, 9, 8, 11, 12);

// StepperDriver2PWM(pwm1, dir1, pwm2, dir2,(en1, en2 optional))
// StepperDriver2PWM driver = StepperDriver2PWM(3, 4, 5, 6, 11, 12);

void setup()
{

    // pwm frequency to be used [Hz]
    // for atmega328 fixed to 32kHz
    // esp32/stm32/teensy configurable
    driver.pwm_frequency = 30000;
    // power supply voltage [V]
    driver.voltage_power_supply = 12;
    // Max DC voltage allowed - default voltage_power_supply
    driver.voltage_limit = 12;

    // driver init
    driver.init();

    // enable driver
    driver.enable();

    _delay(1000);
}

void loop()
{
    // setting pwm
    // phase A: 3V
    // phase B: 6V
    driver.setPwm(3, 6);
}